Public Types | Public Member Functions | Protected Types | Static Private Member Functions | List of all members
gtsam::Ordering Class Reference

#include <Ordering.h>

Inheritance diagram for gtsam::Ordering:
Inheritance graph
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Public Types

enum  OrderingType { COLAMD, METIS, NATURAL, CUSTOM }
 Type of ordering to use. More...
 
typedef std::shared_ptr< Thisshared_ptr
 shared_ptr to this class More...
 
typedef Ordering This
 Typedef to this class. More...
 

Public Member Functions

bool contains (const Key &key) const
 Check if key exists in ordering. More...
 
FastMap< Key, size_tinvert () const
 Invert (not reverse) the ordering - returns a map from key to order position. More...
 
Thisoperator+= (KeyVector &keys)
 Append new keys to the ordering as ordering += keys. More...
 
GTSAM_EXPORT Ordering ()
 Create an empty ordering. More...
 
template<typename KEYS >
 Ordering (const KEYS &keys)
 Create from a container. More...
 
Testable
GTSAM_EXPORT void print (const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 
GTSAM_EXPORT bool equals (const Ordering &other, double tol=1e-9) const
 

Static Public Member Functions

Fill-reducing Orderings
template<class FACTOR_GRAPH >
static Ordering Colamd (const FACTOR_GRAPH &graph)
 
static GTSAM_EXPORT Ordering Colamd (const VariableIndex &variableIndex)
 Compute a fill-reducing ordering using COLAMD from a VariableIndex. More...
 
template<class FACTOR_GRAPH >
static Ordering ColamdConstrainedLast (const FACTOR_GRAPH &graph, const KeyVector &constrainLast, bool forceOrder=false)
 
static GTSAM_EXPORT Ordering ColamdConstrainedLast (const VariableIndex &variableIndex, const KeyVector &constrainLast, bool forceOrder=false)
 
template<class FACTOR_GRAPH >
static Ordering ColamdConstrainedFirst (const FACTOR_GRAPH &graph, const KeyVector &constrainFirst, bool forceOrder=false)
 
static GTSAM_EXPORT Ordering ColamdConstrainedFirst (const VariableIndex &variableIndex, const KeyVector &constrainFirst, bool forceOrder=false)
 
template<class FACTOR_GRAPH >
static Ordering ColamdConstrained (const FACTOR_GRAPH &graph, const FastMap< Key, int > &groups)
 
static GTSAM_EXPORT Ordering ColamdConstrained (const VariableIndex &variableIndex, const FastMap< Key, int > &groups)
 
template<class FACTOR_GRAPH >
static Ordering Natural (const FACTOR_GRAPH &fg)
 Return a natural Ordering. Typically used by iterative solvers. More...
 
template<class FACTOR_GRAPH >
static GTSAM_EXPORT void CSRFormat (std::vector< int > &xadj, std::vector< int > &adj, const FACTOR_GRAPH &graph)
 METIS Formatting function. More...
 
static GTSAM_EXPORT Ordering Metis (const MetisIndex &met)
 Compute an ordering determined by METIS from a VariableIndex. More...
 
template<class FACTOR_GRAPH >
static Ordering Metis (const FACTOR_GRAPH &graph)
 
Named Constructors
template<class FACTOR_GRAPH >
static Ordering Create (OrderingType orderingType, const FACTOR_GRAPH &graph)
 

Protected Types

typedef KeyVector Base
 

Static Private Member Functions

static GTSAM_EXPORT Ordering ColamdConstrained (const VariableIndex &variableIndex, std::vector< int > &cmember)
 Internal COLAMD function. More...
 

Detailed Description

Definition at line 37 of file inference/Ordering.h.

Member Typedef Documentation

◆ Base

typedef KeyVector gtsam::Ordering::Base
protected

Definition at line 39 of file inference/Ordering.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::Ordering::shared_ptr

shared_ptr to this class

Definition at line 49 of file inference/Ordering.h.

◆ This

Typedef to this class.

Definition at line 48 of file inference/Ordering.h.

Member Enumeration Documentation

◆ OrderingType

Type of ordering to use.

Enumerator
COLAMD 
METIS 
NATURAL 
CUSTOM 

Definition at line 44 of file inference/Ordering.h.

Constructor & Destructor Documentation

◆ Ordering() [1/2]

GTSAM_EXPORT gtsam::Ordering::Ordering ( )
inline

Create an empty ordering.

Definition at line 53 of file inference/Ordering.h.

◆ Ordering() [2/2]

template<typename KEYS >
gtsam::Ordering::Ordering ( const KEYS &  keys)
inlineexplicit

Create from a container.

Definition at line 60 of file inference/Ordering.h.

Member Function Documentation

◆ Colamd() [1/2]

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::Colamd ( const FACTOR_GRAPH &  graph)
inlinestatic

Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&)

Definition at line 100 of file inference/Ordering.h.

◆ Colamd() [2/2]

Ordering gtsam::Ordering::Colamd ( const VariableIndex variableIndex)
static

Compute a fill-reducing ordering using COLAMD from a VariableIndex.

Definition at line 42 of file Ordering.cpp.

◆ ColamdConstrained() [1/3]

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::ColamdConstrained ( const FACTOR_GRAPH &  graph,
const FastMap< Key, int > &  groups 
)
inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

Definition at line 175 of file inference/Ordering.h.

◆ ColamdConstrained() [2/3]

Ordering gtsam::Ordering::ColamdConstrained ( const VariableIndex variableIndex,
const FastMap< Key, int > &  groups 
)
static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. In this function, a group for each variable should be specified in groups, and each group of variables will appear in the ordering in group index order. groups should be a map from Key to group index. The group indices used should be consecutive starting at 0, but may appear in groups in arbitrary order. Any variables not present in groups will be assigned to group 0. This function simply fills the cmember argument to CCOLAMD with the supplied indices, see the CCOLAMD documentation for more information.

Definition at line 187 of file Ordering.cpp.

◆ ColamdConstrained() [3/3]

Ordering gtsam::Ordering::ColamdConstrained ( const VariableIndex variableIndex,
std::vector< int > &  cmember 
)
staticprivate

Internal COLAMD function.

Definition at line 49 of file Ordering.cpp.

◆ ColamdConstrainedFirst() [1/2]

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::ColamdConstrainedFirst ( const FACTOR_GRAPH &  graph,
const KeyVector constrainFirst,
bool  forceOrder = false 
)
inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 146 of file inference/Ordering.h.

◆ ColamdConstrainedFirst() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedFirst ( const VariableIndex variableIndex,
const KeyVector constrainFirst,
bool  forceOrder = false 
)
static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This function constrains the variables in constrainFirst to the front of the ordering, and orders all other variables after in a fill-reducing ordering. If forceOrder is true, the variables in constrainFirst will be ordered in the same order specified in the KeyVector constrainFirst. If forceOrder is false, the variables in constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 154 of file Ordering.cpp.

◆ ColamdConstrainedLast() [1/2]

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::ColamdConstrainedLast ( const FACTOR_GRAPH &  graph,
const KeyVector constrainLast,
bool  forceOrder = false 
)
inlinestatic

Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details for note on performance). This internally builds a VariableIndex so if you already have a VariableIndex, it is faster to use COLAMD(const VariableIndex&). This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 119 of file inference/Ordering.h.

◆ ColamdConstrainedLast() [2/2]

Ordering gtsam::Ordering::ColamdConstrainedLast ( const VariableIndex variableIndex,
const KeyVector constrainLast,
bool  forceOrder = false 
)
static

Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex. This function constrains the variables in constrainLast to the end of the ordering, and orders all other variables before in a fill-reducing ordering. If forceOrder is true, the variables in constrainLast will be ordered in the same order specified in the KeyVector constrainLast. If forceOrder is false, the variables in constrainLast will be ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.

Definition at line 127 of file Ordering.cpp.

◆ contains()

bool gtsam::Ordering::contains ( const Key key) const

Check if key exists in ordering.

Definition at line 291 of file Ordering.cpp.

◆ Create()

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::Create ( OrderingType  orderingType,
const FACTOR_GRAPH &  graph 
)
inlinestatic

Definition at line 224 of file inference/Ordering.h.

◆ CSRFormat()

template<class FACTOR_GRAPH >
static GTSAM_EXPORT void gtsam::Ordering::CSRFormat ( std::vector< int > &  xadj,
std::vector< int > &  adj,
const FACTOR_GRAPH &  graph 
)
static

METIS Formatting function.

◆ equals()

bool gtsam::Ordering::equals ( const Ordering other,
double  tol = 1e-9 
) const

Definition at line 296 of file Ordering.cpp.

◆ invert()

FastMap< Key, size_t > gtsam::Ordering::invert ( ) const

Invert (not reverse) the ordering - returns a map from key to order position.

Returns
FastMap<Key, size_t>

Definition at line 34 of file Ordering.cpp.

◆ Metis() [1/2]

Ordering gtsam::Ordering::Metis ( const MetisIndex met)
static

Compute an ordering determined by METIS from a VariableIndex.

Definition at line 210 of file Ordering.cpp.

◆ Metis() [2/2]

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::Metis ( const FACTOR_GRAPH &  graph)
inlinestatic

Definition at line 211 of file inference/Ordering.h.

◆ Natural()

template<class FACTOR_GRAPH >
static Ordering gtsam::Ordering::Natural ( const FACTOR_GRAPH &  fg)
inlinestatic

Return a natural Ordering. Typically used by iterative solvers.

Definition at line 195 of file inference/Ordering.h.

◆ operator+=()

Ordering::This & gtsam::Ordering::operator+= ( KeyVector keys)

Append new keys to the ordering as ordering += keys.

Parameters
keysThe key vector to append to this ordering.
Returns
The ordering variable with appended keys.

Definition at line 285 of file Ordering.cpp.

◆ print()

void gtsam::Ordering::print ( const std::string &  str = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const

Definition at line 258 of file Ordering.cpp.


The documentation for this class was generated from the following files:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:05